diff --git a/.gitignore b/.gitignore
index 9bdfd81..e645451 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,4 +2,5 @@
 .idea
 bin
 venv
-.venv
\ No newline at end of file
+.venv
+__pycache__
\ No newline at end of file
diff --git a/main.py b/main.py
index eacf9b9..278ec82 100644
--- a/main.py
+++ b/main.py
@@ -1,9 +1,8 @@
-import sys
 import secrets
+import sys
 
-from src.graphics import *
-from src.waiter import *
 from src.decisionTree import *
+from src.plateRecognition import *
 
 if __name__ == "__main__":
     # SETUP
@@ -33,21 +32,36 @@ if __name__ == "__main__":
                     pygame.quit()
                     sys.exit()
                     break
-                    
+
                 if event.key == pygame.K_s:
-                    tree.TasksList('check', [10,3])
-                    tree.TasksList('eat', [5,12])
-                    tree.TasksList('order', [12,4])
-                    tree.TasksList('goToBar', [10,10])
-                    tree.TasksList('check', [3,4])
-                    tree.TasksList('eat', [10,5])
+                    tree.TasksList('check', [10, 3])
+                    tree.TasksList('eat', [5, 12])
+                    tree.TasksList('order', [12, 4])
+                    tree.TasksList('goToBar', [10, 10])
+                    tree.TasksList('check', [3, 4])
+                    tree.TasksList('eat', [10, 5])
                     tree.print()
 
+                if event.key == pygame.K_m:
+                    tabPos = [[1, 2], [1, 4], [1, 5], [1, 7], [1, 8], [1, 10], [5, 4], [5, 8]]
+                    print(tabPos[0][0], tabPos[0][1])
+
+                    if not [waiter.X, waiter.Y] in tabPos:
+                        x = tabPos[0][0]
+                        y = tabPos[0][1]
+
+                        goal = (x, y)
+                        path = waiter.findPath(goal)
+                        path = waiter.translatePath(path)
+                    else:
+                        print('hello')
+
                 if event.key == pygame.K_r:
                     temp = False
                     while not temp:
                         x = secrets.randbelow(graphics.width)
                         y = secrets.randbelow(graphics.height)
+                        print(x, y)
 
                         if waiter.matrix.matrix[x][y].walk_through == 1:
                             temp = True
diff --git a/src/__pycache__/graphics.cpython-37.pyc b/src/__pycache__/graphics.cpython-37.pyc
index 29f67d1..93ffeee 100644
Binary files a/src/__pycache__/graphics.cpython-37.pyc and b/src/__pycache__/graphics.cpython-37.pyc differ
diff --git a/src/__pycache__/matrix.cpython-37.pyc b/src/__pycache__/matrix.cpython-37.pyc
index 1f46182..f364294 100644
Binary files a/src/__pycache__/matrix.cpython-37.pyc and b/src/__pycache__/matrix.cpython-37.pyc differ
diff --git a/src/__pycache__/tile.cpython-37.pyc b/src/__pycache__/tile.cpython-37.pyc
index 54bba7a..524635e 100644
Binary files a/src/__pycache__/tile.cpython-37.pyc and b/src/__pycache__/tile.cpython-37.pyc differ
diff --git a/src/__pycache__/waiter.cpython-37.pyc b/src/__pycache__/waiter.cpython-37.pyc
index 83a4f5f..2a763a6 100644
Binary files a/src/__pycache__/waiter.cpython-37.pyc and b/src/__pycache__/waiter.cpython-37.pyc differ
diff --git a/src/plateRecognition.py b/src/plateRecognition.py
new file mode 100644
index 0000000..e69de29